WO1994012808A1 - Engrenages a contact souple a deflexion negative tertiaire a profil de denture non decale - Google Patents

Engrenages a contact souple a deflexion negative tertiaire a profil de denture non decale Download PDF

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Publication number
WO1994012808A1
WO1994012808A1 PCT/JP1992/001535 JP9201535W WO9412808A1 WO 1994012808 A1 WO1994012808 A1 WO 1994012808A1 JP 9201535 W JP9201535 W JP 9201535W WO 9412808 A1 WO9412808 A1 WO 9412808A1
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WO
WIPO (PCT)
Prior art keywords
tooth
external gear
gear
curve
point
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP1992/001535
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English (en)
Japanese (ja)
Inventor
Shoichi Ishikawa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harmonic Drive Systems Inc
Original Assignee
Harmonic Drive Systems Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harmonic Drive Systems Inc filed Critical Harmonic Drive Systems Inc
Priority to EP92924005A priority Critical patent/EP0622565B1/fr
Priority to US08/256,721 priority patent/US5485766A/en
Priority to JP51295894A priority patent/JP3323501B2/ja
Priority to CA002128502A priority patent/CA2128502C/fr
Priority to PCT/JP1992/001535 priority patent/WO1994012808A1/fr
Priority to KR1019940702548A priority patent/KR100245287B1/ko
Priority to DE69217390T priority patent/DE69217390T2/de
Priority claimed from CA002128502A external-priority patent/CA2128502C/fr
Publication of WO1994012808A1 publication Critical patent/WO1994012808A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/08—Profiling
    • F16H55/0833—Flexible toothed member, e.g. harmonic drive
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing

Definitions

  • Non-displacement tooth profile three-dimensional negative deflection flexure engagement type gear device
  • the present invention relates to a radial meshing gear device, and particularly relates to the shape of teeth of a rigid internal gear and a flexible external gear used in the gear.
  • a typical flexion-engagement type gearing is a rigid circular internal gear, which is bent elliptically inside the internal gear so as to mesh with it at, for example, two places, and is 2 n (n (A positive integer), a flexible external gear having a small number of teeth, and a wave generator fitted inside the external gear and deflecting the external gear in an elliptical shape.
  • the basic tooth profile of these internal and external gears is straight (see U.S. Pat. No. 2,906,144).
  • an involute tooth profile has also been devised (see Japanese Patent Publication No. 45-411171).
  • the tooth profiles of the internal gear and the external gear cannot be continuously brought into contact with each other.
  • the inventor of the present invention disclosed in Japanese Patent Application Laid-Open No. 63-115,43 in order to further increase the load capability of such a device, the tooth profile of the tooth flank of both gears was changed by using a wave generator. From the meshing limit point on the movement trajectory of the internal gear determined by the shape based on the rack approximation of the teeth of the external gear, a required range of the trajectory is converted to a curve obtained by similarity conversion with a reduction ratio of 12 One Suggest an expression. If the tooth profile disclosed in this publication is adopted, the tooth profiles of the addendum of the internal gear and the external gear can be continuously contacted.
  • a bending engagement type gear device a type incorporating a cup-shaped flexible external gear is known.
  • the distance from the diaphragm to the opening from the diaphragm side to the cup-shaped flexible external gear is proportional to the distance from the diaphragm.
  • the so-called coning phenomenon occurs in which the amount of deflection (difference between the major axis and minor axis of the elliptical curve) gradually increases.
  • the change in the amount of deflection in the axial direction due to this coning is determined by setting the tooth profile described in Japanese Patent Application Laid-Open No. 63-1151593.
  • the external gear and internal gear are extended over all tooth traces of the cup-shaped flexible external gear.
  • the present inventor has proposed a tooth profile disclosed in Japanese Patent Application No. 3-357036 in order to realize a wider range of engagement without interference with gears.
  • the cup shape of the bending engagement type gear device is used.
  • the movement trajectory of the teeth of the flexible external gear in the cross section perpendicular to the axis near the outside of the end of the diaphragm side tooth trace is connected to the envelope to form a composite curve. Then, from a limit point of the meshing selected on the composite curve, a required portion corresponding to twice the working tooth length in the gear setting direction of the composite curve at a reduction ratio of 1 Z 2 is subjected to similarity conversion. The obtained curve is expressed by the external gear and
  • the present inventor has proposed in Japanese Patent Application No. 3-357037 that the movement trajectory that is the basis for guiding the tooth profile is only the envelope described above.
  • the above-mentioned envelope is equivalent to a case where the movement locus of the teeth of the flexible external gear on the cross section perpendicular to the axis corresponding to the non-deflection state is 1 Z 2.
  • f can be adopted as the tooth profile of both gears of a cup-type flexure-engagement type gear device in which the difference in the number of teeth between the rigid internal gear and the flexible external gear is 4. The teeth are formed.
  • the present invention relates to an improvement of the tooth profile disclosed in Japanese Patent Application Nos. 3-3570 / 36 and 3-7570 / ⁇ 37.
  • the present invention is characterized in that the amount of bending of the opening of the cup-shaped flexible external gear of the bending engagement type gear device is set to a negative deviation smaller than normal.
  • the concept of positive and negative deviation is described in detail in Japanese Patent Publication No. 45-41171 by the present inventor.
  • the tooth curve is derived by a compound curve of the envelope of the movement trajectory of the tooth of the flexible external gear and the movement trajectory in the section perpendicular to the axis near the end of the diaphragm-side tooth trace or the outside of the end. It is the foundation of This point is the same as the inventions disclosed in Japanese Patent Application Nos. 3-35707-36 and 3-370737 except for the use of the movement trajectory in the section perpendicular to the axis at the end. 0.
  • the present invention does not include the movement trajectory on a non-deflection cross-section as in the inventions disclosed in Japanese Patent Application Nos. Hei 3-35707 and Hei 3-35707. It is characterized by using a clearly defined envelope corresponding to the amount of negative deviation of the section perpendicular to each axis of the tooth trace of the flexible external gear, instead of the envelope. Further, the present invention is characterized in that the pressure angle at the datum point is determined in relation to the amount of negative deviation of the opening of the flexible external gear.
  • the present invention relates to a rigid internal gear, a cup-shaped flexible external gear inside thereof, and a bending amount proportional to a distance from the diaphragm when the external gear is hung from the diaphragm side to the opening.
  • a wave generator that rotates the shape of the gear without bending it into an elliptical shape so as to cause the relative rotation between the two gears by the rotation of the wave generator. This defines the tooth profile of the rigid internal gear and the flexible external gear.
  • both the rigid internal gear and the flexible external gear are spur gears without dislocation, and the opening of the flexible external gear is set to a state of negative deviation smaller than the normal deflection amount.
  • the movement locus formed by superimposing the movement locus of the tooth of the external gear with respect to the internal gear on the rack at the cross section perpendicular to each axis of the tooth trace of the flexible external gear is superimposed on one cross section orthogonal to the axis.
  • the part from the apex of the movement trajectory to the end point which is twice the working tooth depth in the tooth-gear direction.
  • the curve obtained by performing similarity conversion with a contraction ratio of 1/2 using the end point as the origin is It is the main part of the convex tooth profile on the tooth flank of both gears. Furthermore, a straight line having a limited pressure angle that is correlated with the amount of deflection of the opening inserted near the datum point of the tooth profile, and a transition curve that smoothly connects the straight line to the main portion of the convex tooth profile are provided.
  • the compound curve and its proximity curve are the tooth forms of both gears.
  • both gears are formed into a compound tooth profile consisting of a straight line and a concave curve as a point symmetrical figure of the addendum tooth shape with respect to each detent point, or a tooth profile giving a slight relief to the tooth profile.
  • FIG. 1 is a perspective view of a cup-shaped flexing gear device.
  • FIG. 2 is a schematic front view of the apparatus of FIG.
  • FIG. 3 is an explanatory diagram showing a state before the flexible external gear is bent by the ganging.
  • FIG. 4 is an explanatory diagram showing a situation on a long axis of an elliptic curve after a radius of a flexible external gear due to ganging.
  • FIG. 5 is an explanatory diagram showing a situation on the short axis of an elliptic curve after the flexible external gear is bent by the coning.
  • FIGS. 6, 7 and 8 are explanatory views showing the trajectory of one tooth of the flexible external gear moving with respect to the tooth space of the rigid internal gear, and FIG. 6 shows a right angle to the opening axis. It is explanatory drawing which shows the movement locus
  • FIG. 7 is an explanatory view showing a locus of movement in a cross section perpendicular to the central axis of the tooth trace.
  • FIG. 8 is an explanatory view showing a moving rail in a cross section perpendicular to the end of the tooth trace on the diaphragm side.
  • FIG. 9 is a composite curve as a base for deriving the tooth profile of the present invention.
  • FIG. 10 is an explanatory diagram for deriving the tooth profile of the present invention from the composite curve of FIG.
  • FIGS. 11, 12 and 13 are diagrams showing examples of meshing of the tooth profile of the present invention
  • FIG. 11 is a diagram showing meshing in a cross section perpendicular to the opening axis.
  • FIG. 12 is a diagram showing the engagement in a cross section perpendicular to the central axis of the tooth trace.
  • FIG. 13 is a diagram showing the engagement of tooth traces in a cross section perpendicular to the axis at the diaphragm-side end.
  • FIG. 1 and FIG. 2 are a perspective view and a front view, respectively, of a known cup-shaped flexible gear device.
  • This flexing gear system 1 It is composed of a cylindrical rigid internal gear 2, a cup-shaped flexible external gear 3 arranged on the inner side, and an elliptical wave generator 4 mounted on the inner side.
  • the cup-shaped flexible external gear 3 is in an elliptical shape by the elliptical wave generator 4.
  • FIG. 3, FIG. 4 and FIG. 5 show the radial state of the flexible external gear by coning in a cross section including the axis.
  • FIG. 3 shows a state before being deformed (before deformation) by the wave generator 4.
  • FIG. 4 is an axial section including the major axis of the generator in a state where it is bent by the wave generator 4.
  • FIG. 6 is an axial cross section including a short axis of the Wave's generator in a state of being bent by the A / B generator 4.
  • the cup-shaped flexible external gear 3 has the largest amount of bending at its opening 3a due to the coning, and the amount of bending gradually decreases toward the diaphragm 3b. are doing.
  • FIGS. 6, 7, and 8 show one tooth of the cup-shaped flexible external gear moving with respect to the tooth space of the rigid internal gear 2 in the bending engagement type gear device 1.
  • the trajectory is shown as a rack approximation when the number of teeth of the two gears 2 and 3 becomes infinite while the difference between the two is kept constant.
  • the trajectories in this case are all the trajectories in a state of negative deviation.
  • the internal gear and the flexible external gear are given the same trial tooth shape.
  • the movement trajectory shown in FIG. 6 is obtained in a section perpendicular to the axis at the position 31 of the opening 3a in the tooth 30 of the cup-shaped flexible external gear 3. is there.
  • the motion trajectory shown in Fig. 7 is obtained in the section perpendicular to the axis at the position 32 in the center of the tooth trace. Gained in It is what is done.
  • the interference between the two teeth gradually increases from the opening 3a to the side of the diaphragm 3b.
  • additional work such as relieving is required.
  • n 1/2 of the difference in the number of teeth between the rigid internal gear and the flexible external gear
  • V Angle parameter
  • Equation (3) Equation (3)
  • Fig. 9 shows the composite curve L created in this way.
  • the movement trajectory on the cross section corresponding to the non-deflection as a reference ⁇ .
  • a total of five movement trajectories are shown, including a movement trajectory of £ g in a section perpendicular to the axis near the outside of the end of the tooth side of the diaphragm (the limit section described above).
  • each point of ABCD in FIG. 9 indicates a point where the movement trajectory aib and ⁇ g are in contact with the envelope e.
  • £ g equals c.
  • FIG. 10 is an explanatory diagram for deriving the tooth profile of the present invention from the composite curve L.
  • AE is taken as a required part of the composite curve.
  • the starting point A is a contact point between the movement trajectory £ a on the cross section perpendicular to the axis at the opening 3a of the flexible external gear 3 and the envelope e as described above.
  • the end point E is a point where the y coordinate is equal to twice the working tooth length, and is usually on the movement trajectory g at the aforementioned critical section connected to the envelope e.
  • the method of determining the point A is as follows. There is no particular limitation.
  • the position of point A is determined as follows. Assuming that the deflection coefficient of the opening 3a of the flexible external gear 3 is / c, since it is a negative deviation, /, ⁇ 1, and in this case, from equation (3),
  • V c 0 s ⁇ . (6)
  • the coordinate origin 0 and point A are connected by a straight line.
  • From the end point E take the composite curve MFE that is the similarity transformation of the composite curve 0 AE composed of the straight line 0 A and the curved line AE with the reduction ratio 12.
  • the compound curve MFE with rounded corners at point F so that the straight line and the curve are smoothly connected is defined as the tooth profile of the rigid internal gear 2 at the addendum.
  • a point symmetric curve MO regarding the M point (datum point) of the tooth profile is defined as a convex tooth profile at the end of the flexible external gear 3. Therefore, in the present invention, a linear tooth profile is obtained in the rack approximation near the datum point. next The pressure angle ⁇ of this straight line is obtained.
  • ⁇ ⁇ can be obtained by the following equation.
  • a nearly correct contact is guaranteed at a cross section corresponding to 10 /. This is because, when viewed in rack approximation, for example, the tooth profiles of the tooth tips that are in contact with each other at point Q in the figure are symmetric with respect to point Q. As shown in the figure, the tip P of the flexible external gear coincides with the point where the straight line EQ extends twice beyond the straight line EQ, and
  • FIGS. 11, 12, and 13 are diagrams showing examples of tooth profile engagement when the critical cross section of the present invention is taken at the end of the diaphragm-side tooth trace.
  • Fig. 11 is a section perpendicular to the opening axis
  • Fig. 12 is a section perpendicular to the central axis of the tooth trace
  • Fig. 13 is the end of the tooth trace on the diaphragm side.
  • the section from the top of the compound curve to the envelope is the critical cross section from the opening of the flexible external gear to the end of the diaphragm-side tooth trace or the outside of the end.
  • the subsequent portion of the composite curve is a continuous contact of the tooth profile within the critical cross section.
  • the critical cross section 5 is taken near the outside of the end of the tooth on the diaphragm side, there are actually no teeth in this part, and the continuous engagement in this plane is imaginary.
  • the teeth at the end of the tooth on the diaphragm side are close to this.
  • the flexion-engagement type gear device of this example has a continuous contact in the cross-sections of FIGS. 11 and 12 depending on the degree of contact between the envelope and the motion trajectory of the cross-section.
  • the cross section in Fig. 13 realizes the continuous contact of the tooth profile in the plane.
  • the present invention provides a flexible external gear tooth that is obtained when the amount of deflection of an opening of a cup-shaped flexible external gear of a flexible meshing gear device is set to a negative deviation smaller than normal.
  • a composite curve of the envelope of the movement trajectory and the movement trajectory in the cross section perpendicular to the axis near the end of the tooth side on the diaphragm side or the outside of the end is obtained, and this is used as the basis for generating the tooth profile of both gears. Therefore, a clearly defined envelope portion corresponding to the amount of negative deviation of the section perpendicular to each axis of the tooth trace of the flexible external gear can be used as a basis for tooth profile creation. Further, the pressure angle of the data point can be set in relation to the amount of negative deviation of the opening of the flexible external gear.
  • the external gear does not require any additional processing such as crowning or releasing. While maintaining the root thickness constant, smooth tooth contact is achieved throughout the entire tooth trace up to the end of the diaphragm-side tooth trace, and natural tooth contact along the tooth trace can be realized. In addition, if a critical cross section is taken at the end of the tooth on the diaphragm side, the continuous meshing of teeth in that plane can be used. This combines the effect of reducing tooth surface pressure with the effect of increasing tooth stiffness.
  • the flexion-engagement type gear device of the present invention functions in the negative deviation region, the bending stress accompanying the elliptical deformation of the tooth bottom can be greatly reduced.
  • the present invention it is possible to obtain a flexural gear device with high strength, high rigidity, and high precision three-dimensional mesh. Further, the content of the present invention is established regardless of the angle of the gang, and the present invention is applied to a cup-shaped flexible external gear having a short body length.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Gears, Cams (AREA)

Abstract

Engrenages à contact souple (1) de type cylindrique à denture droite interne, dans lesquels aussi bien l'engrenage interne rigide (2) que l'engrenage externe souple (3) constituent des engrenages à denture droite sans décalage. Une ouverture (3a) de l'engrenage externe souple (3) est définie selon une déflexion négative d'une valeur inférieure à une déflexion normale. Un point mobile est obtenu par l'approximation d'engrènement des dents de l'engrenage externe contre l'engrenage interne aux secteurs correspondants de rotation de la ligne de flanc de l'engrenage externe souple (3). Un autre point mobile sur un secteur de rotation d'une partie terminale de ligne de flanc du côté d'un diaphragme ou au voisinage de l'extérieur de la partie terminale entretient une liaison uniforme avec l'enveloppe e^_ du premier point mobile, grâce au chevauchement de ce point mobile sur l'un des secteurs de rotation, de manière à obtenir une courbe composite L. Une courbe FE est obtenue en soumettant à une conversion de similitude de 1/2 dans le rapport de réduction une partie allant d'un point de départ A de l'enveloppe e^_ à un point terminal E correspondant à deux fois la profondeur de travail dans le sens de la profondeur à partir d'un sommet du point mobile lo lorsque la déflexion est égale à 0, en prenant le point terminal comme point d'origine, cette courbe FE correspond à chacune des parties principales des profils de denture convexe à la surface des dentures des engrenages 2 et 3. Une courbe composite MFE comprend une ligne droite MF présentant un angle de pression limité αM associé à la valeur de déflexion d'une ouverture ménagée au voisinage d'un point de référence M du profil de denture et une courbe transitoire réunissant harmonieusement la ligne droite susmentionnée à la partie principale du profil de denture convexe, et cette courbe composite MFE correspond à chacun des profils de denture des faces de dents des deux engrenages.
PCT/JP1992/001535 1992-11-24 1992-11-24 Engrenages a contact souple a deflexion negative tertiaire a profil de denture non decale Ceased WO1994012808A1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
EP92924005A EP0622565B1 (fr) 1992-11-24 1992-11-24 Engrenages a contact souple a deflexion negative tertiaire a profil de denture non decale
US08/256,721 US5485766A (en) 1992-11-24 1992-11-24 Tertiary negative-deviation flexing contact type gear drive of non-profile-shifted tooth profile
JP51295894A JP3323501B2 (ja) 1992-11-24 1992-11-24 無転位歯形の３次元負偏位撓み噛み合い式歯車装置
CA002128502A CA2128502C (fr) 1992-11-24 1992-11-24 Engrenages souples a profil non standard
PCT/JP1992/001535 WO1994012808A1 (fr) 1992-11-24 1992-11-24 Engrenages a contact souple a deflexion negative tertiaire a profil de denture non decale
KR1019940702548A KR100245287B1 (ko) 1992-11-24 1992-11-24 무전위치형의 3차원부편위가요물림식기어장치
DE69217390T DE69217390T2 (de) 1992-11-24 1992-11-24 Flexible kontaktverzahnung mit tertiärer negativ-deformation und einem nicht profilverschobenen zahnprofil

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CA002128502A CA2128502C (fr) 1992-11-24 1992-11-24 Engrenages souples a profil non standard
PCT/JP1992/001535 WO1994012808A1 (fr) 1992-11-24 1992-11-24 Engrenages a contact souple a deflexion negative tertiaire a profil de denture non decale

Publications (1)

Publication Number Publication Date
WO1994012808A1 true WO1994012808A1 (fr) 1994-06-09

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PCT/JP1992/001535 Ceased WO1994012808A1 (fr) 1992-11-24 1992-11-24 Engrenages a contact souple a deflexion negative tertiaire a profil de denture non decale

Country Status (3)

Country Link
US (1) US5485766A (fr)
EP (1) EP0622565B1 (fr)
WO (1) WO1994012808A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5662008A (en) * 1993-08-30 1997-09-02 Teijin Seiki Boston, Inc. Extended contact harmonic drive devices

Families Citing this family (18)

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Publication number Priority date Publication date Assignee Title
JP3323501B2 (ja) 1992-11-24 2002-09-09 株式会社ハーモニック・ドライブ・システムズ 無転位歯形の３次元負偏位撓み噛み合い式歯車装置
JP3441160B2 (ja) * 1994-04-19 2003-08-25 株式会社ハーモニック・ドライブ・システムズ 追い越し接触型歯形の撓み噛み合い式歯車装置
CA2183251C (fr) * 1994-12-14 2005-10-18 Noboru Takizawa Dispositif a engrenage souple du type haut-de-forme
KR100340814B1 (ko) * 1994-12-19 2002-11-30 가부시키가이샤 하모닉 드라이브 시스템즈 마이너스편위추월치형의휨맞물림식기어장치
JP3739017B2 (ja) * 1995-12-15 2006-01-25 株式会社ハーモニック・ドライブ・システムズ 非干渉広域かみ合い歯形を有する撓みかみ合い式歯車装置
JPH10148240A (ja) * 1996-11-20 1998-06-02 Harmonic Drive Syst Ind Co Ltd 撓み噛み合い式歯車装置
DE69723291T2 (de) * 1997-10-02 2004-04-22 Harmonic Drive Systems Inc. Elastisches zahnrad
JP3887762B2 (ja) * 1997-10-16 2007-02-28 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置
US6082222A (en) * 1997-10-27 2000-07-04 Harmonic Drive Systems, Inc. Rigid internal gear of a wave gear drive
US7530292B2 (en) * 2004-06-07 2009-05-12 Harmonic Drive Systems Inc. Wave gear drive having high ratcheting torque tooth profile
US7581463B2 (en) * 2004-07-30 2009-09-01 Xerox Corporation Gear modification that enables direct off-center engagement
KR100988215B1 (ko) * 2008-06-24 2010-10-18 한국과학기술연구원 전위기어를 이용하는 하모닉 감속기
WO2012104927A1 (fr) * 2011-02-04 2012-08-09 株式会社ハーモニック・ドライブ・システムズ Dispositif d'engrenage ondulé ayant un profil de dent décalé positif à développante de contact en trois dimensions
KR102279695B1 (ko) 2016-06-08 2021-07-20 주식회사 에스비비테크 하모닉 감속기
KR102133443B1 (ko) 2016-11-29 2020-07-14 주식회사 에스비비테크 하모닉 감속기
JP6759120B2 (ja) * 2017-02-07 2020-09-23 日立オートモティブシステムズ株式会社 波動歯車減速機の製造方法
CN110486444B (zh) * 2019-08-20 2020-11-13 西安长剑飞控机电有限责任公司 非标模数谐波齿轮的修型方法
USD971978S1 (en) * 2020-09-09 2022-12-06 Harmonic Drive Systems Inc. Speed reducer

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JP2503027B2 (ja) * 1987-09-21 1996-06-05 株式会社ハーモニック・ドライブ・システムズ 撓みかみ合い式歯車装置
JP2612591B2 (ja) * 1988-05-18 1997-05-21 株式会社ハーモニック・ドライブ・システムズ たわみ噛み合い式歯車装置

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5662008A (en) * 1993-08-30 1997-09-02 Teijin Seiki Boston, Inc. Extended contact harmonic drive devices

Also Published As

Publication number Publication date
EP0622565A1 (fr) 1994-11-02
US5485766A (en) 1996-01-23
EP0622565A4 (fr) 1995-06-07
EP0622565B1 (fr) 1997-02-05

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